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xk7130 new config no encoders

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May 11th, 2018
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  1. # Generated by PNCconf at Fri May 11 22:08:09 2018
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. loadrt trivkins
  6. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  7. loadrt hostmot2
  8. loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"
  9. setp hm2_7i92.0.watchdog.timeout_ns 5000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  11.  
  12. addf hm2_7i92.0.read servo-thread
  13. addf motion-command-handler servo-thread
  14. addf motion-controller servo-thread
  15. addf pid.x.do-pid-calcs servo-thread
  16. addf pid.y.do-pid-calcs servo-thread
  17. addf pid.z.do-pid-calcs servo-thread
  18. addf pid.s.do-pid-calcs servo-thread
  19. addf hm2_7i92.0.write servo-thread
  20.  
  21. # external output signals
  22.  
  23.  
  24. # --- Z-ENABLE ---
  25. net z-enable hm2_7i92.0.7i76.0.3.output-01
  26.  
  27. # --- COOLANT-FLOOD ---
  28. net coolant-flood hm2_7i92.0.7i76.0.3.output-04
  29.  
  30. # --- X-ENABLE ---
  31. net x-enable hm2_7i92.0.7i76.0.3.output-12
  32.  
  33. # --- Y-ENABLE ---
  34. net y-enable hm2_7i92.0.7i76.0.3.output-13
  35.  
  36. # --- Z-ENABLE ---
  37. net z-enable hm2_7i92.0.7i76.0.3.output-14
  38.  
  39. # external input signals
  40.  
  41.  
  42. # --- ESTOP-EXT ---
  43. net estop-ext <= hm2_7i92.0.7i76.0.3.input-21
  44.  
  45. #*******************
  46. # AXIS X
  47. #*******************
  48.  
  49. setp pid.x.Pgain [AXIS_0]P
  50. setp pid.x.Igain [AXIS_0]I
  51. setp pid.x.Dgain [AXIS_0]D
  52. setp pid.x.bias [AXIS_0]BIAS
  53. setp pid.x.FF0 [AXIS_0]FF0
  54. setp pid.x.FF1 [AXIS_0]FF1
  55. setp pid.x.FF2 [AXIS_0]FF2
  56. setp pid.x.deadband [AXIS_0]DEADBAND
  57. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  58. setp pid.x.error-previous-target true
  59. setp pid.x.maxerror .0005
  60.  
  61. net x-index-enable <=> pid.x.index-enable
  62. net x-enable => pid.x.enable
  63. net x-pos-cmd => pid.x.command
  64. net x-vel-cmd => pid.x.command-deriv
  65. net x-pos-fb => pid.x.feedback
  66. net x-output => pid.x.output
  67.  
  68. # Step Gen signals/setup
  69.  
  70. setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
  71. setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
  72. setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
  73. setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
  74. setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
  75. setp hm2_7i92.0.stepgen.00.step_type 0
  76. setp hm2_7i92.0.stepgen.00.control-type 1
  77. setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  78. setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
  79.  
  80. # ---closedloop stepper signals---
  81.  
  82. net x-pos-cmd <= axis.0.motor-pos-cmd
  83. net x-vel-cmd <= axis.0.joint-vel-cmd
  84. net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
  85. net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
  86. net x-pos-fb => axis.0.motor-pos-fb
  87. net x-enable <= axis.0.amp-enable-out
  88. net x-enable => hm2_7i92.0.stepgen.00.enable
  89.  
  90. # ---setup home / limit switch signals---
  91.  
  92. net x-home-sw => axis.0.home-sw-in
  93. net x-neg-limit => axis.0.neg-lim-sw-in
  94. net x-pos-limit => axis.0.pos-lim-sw-in
  95.  
  96. #*******************
  97. # AXIS Y
  98. #*******************
  99.  
  100. setp pid.y.Pgain [AXIS_1]P
  101. setp pid.y.Igain [AXIS_1]I
  102. setp pid.y.Dgain [AXIS_1]D
  103. setp pid.y.bias [AXIS_1]BIAS
  104. setp pid.y.FF0 [AXIS_1]FF0
  105. setp pid.y.FF1 [AXIS_1]FF1
  106. setp pid.y.FF2 [AXIS_1]FF2
  107. setp pid.y.deadband [AXIS_1]DEADBAND
  108. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  109. setp pid.y.error-previous-target true
  110. setp pid.y.maxerror .0005
  111.  
  112. net y-index-enable <=> pid.y.index-enable
  113. net y-enable => pid.y.enable
  114. net y-pos-cmd => pid.y.command
  115. net y-vel-cmd => pid.y.command-deriv
  116. net y-pos-fb => pid.y.feedback
  117. net y-output => pid.y.output
  118.  
  119. # Step Gen signals/setup
  120.  
  121. setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
  122. setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
  123. setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
  124. setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
  125. setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
  126. setp hm2_7i92.0.stepgen.01.step_type 0
  127. setp hm2_7i92.0.stepgen.01.control-type 1
  128. setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  129. setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
  130.  
  131. # ---closedloop stepper signals---
  132.  
  133. net y-pos-cmd <= axis.1.motor-pos-cmd
  134. net y-vel-cmd <= axis.1.joint-vel-cmd
  135. net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
  136. net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
  137. net y-pos-fb => axis.1.motor-pos-fb
  138. net y-enable <= axis.1.amp-enable-out
  139. net y-enable => hm2_7i92.0.stepgen.01.enable
  140.  
  141. # ---setup home / limit switch signals---
  142.  
  143. net y-home-sw => axis.1.home-sw-in
  144. net y-neg-limit => axis.1.neg-lim-sw-in
  145. net y-pos-limit => axis.1.pos-lim-sw-in
  146.  
  147. #*******************
  148. # AXIS Z
  149. #*******************
  150.  
  151. setp pid.z.Pgain [AXIS_2]P
  152. setp pid.z.Igain [AXIS_2]I
  153. setp pid.z.Dgain [AXIS_2]D
  154. setp pid.z.bias [AXIS_2]BIAS
  155. setp pid.z.FF0 [AXIS_2]FF0
  156. setp pid.z.FF1 [AXIS_2]FF1
  157. setp pid.z.FF2 [AXIS_2]FF2
  158. setp pid.z.deadband [AXIS_2]DEADBAND
  159. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  160. setp pid.z.error-previous-target true
  161. setp pid.z.maxerror .0005
  162.  
  163. net z-index-enable <=> pid.z.index-enable
  164. net z-enable => pid.z.enable
  165. net z-pos-cmd => pid.z.command
  166. net z-vel-cmd => pid.z.command-deriv
  167. net z-pos-fb => pid.z.feedback
  168. net z-output => pid.z.output
  169.  
  170. # Step Gen signals/setup
  171.  
  172. setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
  173. setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
  174. setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
  175. setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
  176. setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
  177. setp hm2_7i92.0.stepgen.02.step_type 0
  178. setp hm2_7i92.0.stepgen.02.control-type 1
  179. setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  180. setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
  181.  
  182. # ---closedloop stepper signals---
  183.  
  184. net z-pos-cmd <= axis.2.motor-pos-cmd
  185. net z-vel-cmd <= axis.2.joint-vel-cmd
  186. net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
  187. net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
  188. net z-pos-fb => axis.2.motor-pos-fb
  189. net z-enable <= axis.2.amp-enable-out
  190. net z-enable => hm2_7i92.0.stepgen.02.enable
  191.  
  192. # ---setup home / limit switch signals---
  193.  
  194. net z-home-sw => axis.2.home-sw-in
  195. net z-neg-limit => axis.2.neg-lim-sw-in
  196. net z-pos-limit => axis.2.pos-lim-sw-in
  197.  
  198. #*******************
  199. # SPINDLE S
  200. #*******************
  201.  
  202. setp pid.s.Pgain [SPINDLE_9]P
  203. setp pid.s.Igain [SPINDLE_9]I
  204. setp pid.s.Dgain [SPINDLE_9]D
  205. setp pid.s.bias [SPINDLE_9]BIAS
  206. setp pid.s.FF0 [SPINDLE_9]FF0
  207. setp pid.s.FF1 [SPINDLE_9]FF1
  208. setp pid.s.FF2 [SPINDLE_9]FF2
  209. setp pid.s.deadband [SPINDLE_9]DEADBAND
  210. setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
  211. setp pid.s.error-previous-target true
  212.  
  213. net spindle-index-enable <=> pid.s.index-enable
  214. net spindle-enable => pid.s.enable
  215. net spindle-vel-cmd-rpm => pid.s.command
  216. net spindle-vel-fb-rpm => pid.s.feedback
  217. net spindle-output <= pid.s.output
  218.  
  219. # ---PWM Generator signals/setup---
  220.  
  221. setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
  222. setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  223. setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  224.  
  225. net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
  226.  
  227. # ---Encoder feedback signals/setup---
  228.  
  229. setp hm2_7i92.0.encoder.00.counter-mode 0
  230. setp hm2_7i92.0.encoder.00.filter 1
  231. setp hm2_7i92.0.encoder.00.index-invert 0
  232. setp hm2_7i92.0.encoder.00.index-mask 0
  233. setp hm2_7i92.0.encoder.00.index-mask-invert 0
  234. setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
  235.  
  236. net spindle-revs <= hm2_7i92.0.encoder.00.position
  237. net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
  238. net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable
  239.  
  240. # ---setup spindle control signals---
  241.  
  242. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  243. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  244. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  245. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  246. net spindle-enable <= motion.spindle-on
  247. net spindle-cw <= motion.spindle-forward
  248. net spindle-ccw <= motion.spindle-reverse
  249. net spindle-brake <= motion.spindle-brake
  250. net spindle-revs => motion.spindle-revs
  251. net spindle-at-speed => motion.spindle-at-speed
  252. net spindle-vel-fb-rps => motion.spindle-speed-in
  253. net spindle-index-enable <=> motion.spindle-index-enable
  254.  
  255. # ---Setup spindle at speed signals---
  256.  
  257. sets spindle-at-speed true
  258.  
  259.  
  260. #******************************
  261. # connect miscellaneous signals
  262. #******************************
  263.  
  264. # ---HALUI signals---
  265.  
  266. net joint-select-a halui.joint.0.select
  267. net x-is-homed halui.joint.0.is-homed
  268. net jog-x-pos halui.jog.0.plus
  269. net jog-x-neg halui.jog.0.minus
  270. net jog-x-analog halui.jog.0.analog
  271. net joint-select-b halui.joint.1.select
  272. net y-is-homed halui.joint.1.is-homed
  273. net jog-y-pos halui.jog.1.plus
  274. net jog-y-neg halui.jog.1.minus
  275. net jog-y-analog halui.jog.1.analog
  276. net joint-select-c halui.joint.2.select
  277. net z-is-homed halui.joint.2.is-homed
  278. net jog-z-pos halui.jog.2.plus
  279. net jog-z-neg halui.jog.2.minus
  280. net jog-z-analog halui.jog.2.analog
  281. net jog-selected-pos halui.jog.selected.plus
  282. net jog-selected-neg halui.jog.selected.minus
  283. net spindle-manual-cw halui.spindle.forward
  284. net spindle-manual-ccw halui.spindle.reverse
  285. net spindle-manual-stop halui.spindle.stop
  286. net machine-is-on halui.machine.is-on
  287. net jog-speed halui.jog-speed
  288. net MDI-mode halui.mode.is-mdi
  289.  
  290. # ---coolant signals---
  291.  
  292. net coolant-mist <= iocontrol.0.coolant-mist
  293. net coolant-flood <= iocontrol.0.coolant-flood
  294.  
  295. # ---probe signal---
  296.  
  297. net probe-in => motion.probe-input
  298.  
  299. # ---motion control signals---
  300.  
  301. net in-position <= motion.in-position
  302. net machine-is-enabled <= motion.motion-enabled
  303.  
  304. # ---digital in / out signals---
  305.  
  306. # ---estop signals---
  307.  
  308. net estop-out <= iocontrol.0.user-enable-out
  309. net estop-ext => iocontrol.0.emc-enable-in
  310.  
  311. # ---manual tool change signals---
  312.  
  313. loadusr -W hal_manualtoolchange
  314. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  315. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  316. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  317. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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